.

Author: qqqlab

src/cli/cli.cpp

@@ -137,7 +137,7 @@ static void cli_po() {
   Serial.printf("rcl.roll:%+.2f\t", rcl.roll);
   Serial.printf("ahr.gx:%+.2f\t", ahr.gx);
   Serial.printf("ahr.ax:%+.2f\t", ahr.ax);
-  Serial.printf("ahr.mx:%+.2f\t", ahr.mx);
+  Serial.printf("mag.mx:%+.2f\t", mag.mx);
   Serial.printf("ahr.roll:%+.1f\t", ahr.roll);
   Serial.printf("pid.roll:%+.3f\t", pid.roll);
   Serial.printf("out.%c%d:%1.0f\t", out.type(0), 0, 100*out.get_output(0));
@@ -181,7 +181,7 @@ static void cli_pacc() {
 }
 
 static void cli_pmag() {
-  Serial.printf("mx:%+.2f\tmy:%+.2f\tmz:%+.2f\tmtot:%+.2f\t", ahr.mx, ahr.my, ahr.mz, sqrtf(ahr.mx*ahr.mx + ahr.my*ahr.my + ahr.mz*ahr.mz)); 
+  Serial.printf("mx:%+.2f\tmy:%+.2f\tmz:%+.2f\tmtot:%+.2f\t", mag.mx, mag.my, mag.mz, sqrtf(mag.mx*mag.mx + mag.my*mag.my + mag.mz*mag.mz)); 
 }
 
 static void cli_pahr() {

src/madflight.h

@@ -295,9 +295,9 @@ void madflight_setup() {
   mag.config.i2c_bus = hal_get_i2c_bus(cfg.mag_i2c_bus); //i2c bus
   mag.config.i2c_adr = cfg.mag_i2c_adr; //i2c address. 0=default address
   mag.config.sample_rate = 100; //sample rate [Hz]
-  mag.config.mag_cal_x = &(cfg.mag_cal_x); //mag offset[3] [adc_lsb]
-  mag.config.mag_cal_sx = &(cfg.mag_cal_sx); //mag scale[3] [uT/adc_lsb]  
-  mag.config.mag_align = &(cfg.mag_align); //alignment
+  mag.config.mag_cal_x = &(cfg.mag_cal_x); //mag offset[3] (by reference)
+  mag.config.mag_cal_sx = &(cfg.mag_cal_sx); //mag scale[3] (by reference)
+  mag.config.mag_align = &(cfg.mag_align); //alignment (by reference)
   mag.setup(); 
 
   // BAT - Battery Monitor

src/mag/mag.cpp

@@ -184,7 +184,6 @@ void Mag::cli_calibrate() {
 // finds bias and scale factor calibration for the magnetometer, the sensor should be rotated in a figure 8 motion until complete
 // Note: Earth's field ranges between approximately 25 and 65 uT. (Europe & USA: 45-55 uT, inclination 50-70 degrees)
 bool Mag::_calibrate(float bias[3], float scale[3]) {
-  const int sample_interval = 10000; //in us
   const int maxCounts = 1000; //sample for at least 10 seconds @ 100Hz
   const float count_reduction_factor = 0.7; // reduce counter when a min/max changed by at least 10% of current min-max range